Changeset 249 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Jun 27, 2018, 11:45:33 AM (6 years ago)

Author:

Bayard Gildas

Message:

bug #36 solved

Location:

trunk/lib/FlairSensorActuator/src

Files:

• TargetController.cpp (modified) (3 diffs)
• TargetEthController.cpp (modified) (1 diff)
• TargetEthController.h (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/TargetController.cpp

@@ -112 +112 @@
 
 void TargetController::Run() {
-  SetPeriodMS(20);; //50Hz
 
   Message *message;
@@ -118 +117 @@
   //if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
   if (!ControllerInitialization()) {
-    SafeStop();
+//    SafeStop();
     Thread::Err("An error occured, we don't proceed with the loop.\n");
   } else {
-
     axis = new Matrix((IODevice *)this, axisNumber, 1, floatType);
     button =
         new Matrix((IODevice *)this, buttonNumber, 1, SignedIntegerType(8));
 
+    SetPeriodMS(20); //50Hz
     while (!ToBeStopped()) {
       // Thread::Info("Debug: entering acquisition loop\n");
@@ -139 +138 @@
 
         // send pending controller state change request(s)
-
         while (changeStateQueue.size() != 0) {
           message = changeStateQueue.front();

trunk/lib/FlairSensorActuator/src/TargetEthController.cpp

@@ -235 +235 @@
   Thread::Info("Debug: Listening to port %d\n", listeningPort);
   // accept incoming connection
-  bool connectionAccepted = false;
-  while (!connectionAccepted) {
+  while (!controlSocket) {
     try {
       controlSocket = listeningSocket->Accept(100000000);
     } catch (std::logic_error &e) {
-      Thread::Err(e.what());
-      return false;
+      Thread::Err("%s\n",e.what());
+      if (ToBeStopped())
+        return false;
     } catch (std::runtime_error e) {
       // timeout
-      if (ToBeStopped())
-        return false;
-    }
-    if (controlSocket == nullptr) {
-      return false;
-    } else
-      connectionAccepted = true;
+      //Thread::Err("%s\n",e.what());
+      if (ToBeStopped())
+        return false;
+    }
   }
   Thread::Info("Debug: Connexion accepted\n");

trunk/lib/FlairSensorActuator/src/TargetEthController.h

@@ -77 +77 @@
   core::TcpSocket *listeningSocket;
   int listeningPort;
-  core::TcpSocket *controlSocket = NULL;
+  core::TcpSocket *controlSocket = nullptr;
   core::UdpSocket *dataSocket;
-  std::string *axisName = NULL;
-  std::string *buttonName = NULL;
+  std::string *axisName = nullptr;
+  std::string *buttonName = nullptr;
   size_t dataFrameSize;
   char *dataFrameBuffer;